Cabrillo ROV 2023

Cabrillo College Robotics Club repo for the MATE ROV 2023 competition

Software

ROS 2 Humble Hawksbill (Ubuntu 22.04 LTS)

Building

The ROS nodes are built with the colcon program. A makefile is present to help me remember what the colcon commands are. Build the project with:

make

The built artifacts are in:

build
install
log

Clean the build with:

make clean

Launching all Nodes

We've migrated all the launch files to their respective ROS packages. To run all the configured nodes on the ROV:

ros2 launch seahawk_rov rov.launch.py

To launch all the nodes on the deck:

ros2 launch seahawk_deck deck.launch.py

Running Individual Nodes

The built nodes are a part of a local build area. Source the following script to setup your paths:

source install/setup.bash # Choose one that matches your shell.

Run the Python examples:

ros2 run seahawk_rov example_pub
ros2 run seahawk_rov example_sub

Launching the deck

Do this to launch the deck nodes:

$ ros2 launch seahawk_deck deck.launch.py
$ ros2 topic echo /drive/twist

Launching the Kinematics Debug Nodes

Do this to launch the debug nodes. It also starts RViz:

$ ros2 launch seahawk_deck kinematics_viz.launch.py